93 lines
2.4 KiB
C++
93 lines
2.4 KiB
C++
#ifndef __RADMARS_H_
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#define __RADMARS_H_
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#ifdef __cplusplus
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#include "icsneo/device/device.h"
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#include "icsneo/device/devicetype.h"
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#include "icsneo/device/tree/radmars/radmarssettings.h"
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namespace icsneo {
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class RADMars : public Device {
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public:
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static constexpr DeviceType::Enum DEVICE_TYPE = DeviceType::RADMars;
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static constexpr const char* SERIAL_START = "GL";
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size_t getEthernetActivationLineCount() const override { return 1; }
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protected:
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RADMars(neodevice_t neodevice) : Device(neodevice) {
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getWritableNeoDevice().type = DEVICE_TYPE;
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}
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void setupPacketizer(Packetizer& packetizer) override {
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Device::setupPacketizer(packetizer);
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packetizer.disableChecksum = true;
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packetizer.align16bit = false;
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}
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void setupDecoder(Decoder& decoder) override {
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Device::setupDecoder(decoder);
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decoder.timestampResolution = 10; // Timestamps are in 10ns increments instead of the usual 25ns
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}
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void setupEncoder(Encoder& encoder) override {
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Device::setupEncoder(encoder);
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encoder.supportCANFD = true;
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}
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void setupSupportedRXNetworks(std::vector<Network>& rxNetworks) override {
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static std::vector<Network> supportedRxNetworks = {
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Network::NetID::HSCAN,
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Network::NetID::MSCAN,
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Network::NetID::HSCAN2,
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Network::NetID::HSCAN3,
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Network::NetID::HSCAN4,
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Network::NetID::HSCAN5,
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Network::NetID::HSCAN6,
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Network::NetID::HSCAN7,
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Network::NetID::Ethernet,
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Network::NetID::LIN,
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Network::NetID::FlexRay
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};
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rxNetworks.insert(rxNetworks.end(), supportedRxNetworks.begin(), supportedRxNetworks.end());
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}
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void setupSupportedTXNetworks(std::vector<Network>& txNetworks) override {
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static std::vector<Network> supportedTxNetworks = {
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Network::NetID::HSCAN,
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Network::NetID::MSCAN,
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Network::NetID::HSCAN2,
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Network::NetID::HSCAN3,
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Network::NetID::HSCAN4,
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Network::NetID::HSCAN5,
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Network::NetID::HSCAN6,
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Network::NetID::HSCAN7,
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Network::NetID::Ethernet,
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Network::NetID::LIN
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// FlexRay is Receive Only
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};
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txNetworks.insert(txNetworks.end(), supportedTxNetworks.begin(), supportedTxNetworks.end());
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}
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void handleDeviceStatus(const std::shared_ptr<RawMessage>& message) override {
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if(message->data.size() < sizeof(radmars_status_t))
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return;
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std::lock_guard<std::mutex> lk(ioMutex);
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const radmars_status_t* status = reinterpret_cast<const radmars_status_t*>(message->data.data());
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ethActivationStatus = status->ethernetActivationLineEnabled;
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}
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};
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}
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#endif // __cplusplus
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#endif |